Physical interaction between human and a bipedal humanoid robot - realization of human-follow walking

Samuel Agus Setiawan, Jin'ichi Yamaguchi, Sang Ho Hyon, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingChapter

    75 Citations (Scopus)

    Abstract

    This research is aimed at the development of bipedal humanoid robots working in a human living space, with a focus on its physical construction and motion control method. At the first stage, we developed the bipedal humanoid robot WABIAN (WAseda BIpedal humANoid), and proposed a control method for dynamic cooperative biped walking. In this paper, we presented a follow-walking control method with a switching patterns technique for a bipedal humanoid robot to follow human motion by hand contact. By a combination of both algorithms, the robot has been able to perform dynamic stepping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. In this paper, the authors describe the control methods for the realization of physical interaction between a human and a bipedal humanoid robot.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    PublisherIEEE
    Pages361-367
    Number of pages7
    Volume1
    Publication statusPublished - 1999
    EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
    Duration: 1999 May 101999 May 15

    Other

    OtherProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99
    CityDetroit, MI, USA
    Period99/5/1099/5/15

    Fingerprint

    Robots
    Motion control
    End effectors

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Setiawan, S. A., Yamaguchi, J., Hyon, S. H., & Takanishi, A. (1999). Physical interaction between human and a bipedal humanoid robot - realization of human-follow walking. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 361-367). IEEE.

    Physical interaction between human and a bipedal humanoid robot - realization of human-follow walking. / Setiawan, Samuel Agus; Yamaguchi, Jin'ichi; Hyon, Sang Ho; Takanishi, Atsuo.

    Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 IEEE, 1999. p. 361-367.

    Research output: Chapter in Book/Report/Conference proceedingChapter

    Setiawan, SA, Yamaguchi, J, Hyon, SH & Takanishi, A 1999, Physical interaction between human and a bipedal humanoid robot - realization of human-follow walking. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, IEEE, pp. 361-367, Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99, Detroit, MI, USA, 99/5/10.
    Setiawan SA, Yamaguchi J, Hyon SH, Takanishi A. Physical interaction between human and a bipedal humanoid robot - realization of human-follow walking. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1. IEEE. 1999. p. 361-367
    Setiawan, Samuel Agus ; Yamaguchi, Jin'ichi ; Hyon, Sang Ho ; Takanishi, Atsuo. / Physical interaction between human and a bipedal humanoid robot - realization of human-follow walking. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 IEEE, 1999. pp. 361-367
    @inbook{738c1b81993c4a5c9cdee2a8ad2e6450,
    title = "Physical interaction between human and a bipedal humanoid robot - realization of human-follow walking",
    abstract = "This research is aimed at the development of bipedal humanoid robots working in a human living space, with a focus on its physical construction and motion control method. At the first stage, we developed the bipedal humanoid robot WABIAN (WAseda BIpedal humANoid), and proposed a control method for dynamic cooperative biped walking. In this paper, we presented a follow-walking control method with a switching patterns technique for a bipedal humanoid robot to follow human motion by hand contact. By a combination of both algorithms, the robot has been able to perform dynamic stepping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. In this paper, the authors describe the control methods for the realization of physical interaction between a human and a bipedal humanoid robot.",
    author = "Setiawan, {Samuel Agus} and Jin'ichi Yamaguchi and Hyon, {Sang Ho} and Atsuo Takanishi",
    year = "1999",
    language = "English",
    volume = "1",
    pages = "361--367",
    booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
    publisher = "IEEE",

    }

    TY - CHAP

    T1 - Physical interaction between human and a bipedal humanoid robot - realization of human-follow walking

    AU - Setiawan, Samuel Agus

    AU - Yamaguchi, Jin'ichi

    AU - Hyon, Sang Ho

    AU - Takanishi, Atsuo

    PY - 1999

    Y1 - 1999

    N2 - This research is aimed at the development of bipedal humanoid robots working in a human living space, with a focus on its physical construction and motion control method. At the first stage, we developed the bipedal humanoid robot WABIAN (WAseda BIpedal humANoid), and proposed a control method for dynamic cooperative biped walking. In this paper, we presented a follow-walking control method with a switching patterns technique for a bipedal humanoid robot to follow human motion by hand contact. By a combination of both algorithms, the robot has been able to perform dynamic stepping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. In this paper, the authors describe the control methods for the realization of physical interaction between a human and a bipedal humanoid robot.

    AB - This research is aimed at the development of bipedal humanoid robots working in a human living space, with a focus on its physical construction and motion control method. At the first stage, we developed the bipedal humanoid robot WABIAN (WAseda BIpedal humANoid), and proposed a control method for dynamic cooperative biped walking. In this paper, we presented a follow-walking control method with a switching patterns technique for a bipedal humanoid robot to follow human motion by hand contact. By a combination of both algorithms, the robot has been able to perform dynamic stepping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. In this paper, the authors describe the control methods for the realization of physical interaction between a human and a bipedal humanoid robot.

    UR - http://www.scopus.com/inward/record.url?scp=0032669495&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=0032669495&partnerID=8YFLogxK

    M3 - Chapter

    AN - SCOPUS:0032669495

    VL - 1

    SP - 361

    EP - 367

    BT - Proceedings - IEEE International Conference on Robotics and Automation

    PB - IEEE

    ER -